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Make the Encoder CPR overridable #8

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Make the Encoder CPR overridable #8

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f2e7d0c
Make CPR overrideable
dannystaple Dec 12, 2023
34d6037
Review comments
dannystaple Dec 12, 2023
f563d09
Maybe that was a tad lengthy
dannystaple Dec 12, 2023
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4 changes: 2 additions & 2 deletions inventorhatmini/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ class InventorHATMini():

SHUNT_RESISTOR = 0.47

def __init__(self, address=IOE_ADDRESS, motor_gear_ratio=50, init_motors=True, init_servos=True, init_leds=True, start_muted=False):
def __init__(self, address=IOE_ADDRESS, motor_gear_ratio=50, encoder_cpr=MMME_CPR, init_motors=True, init_servos=True, init_leds=True, start_muted=False):
""" Initialise inventor hat mini's hardware functions
"""
self.address = address
Expand All @@ -101,7 +101,7 @@ def __init__(self, address=IOE_ADDRESS, motor_gear_ratio=50, init_motors=True, i
# Setup amplifier enable. This mutes the audio by default
GPIO.setup(self.PI_AMP_EN_PIN, GPIO.OUT, initial=GPIO.LOW if start_muted else GPIO.HIGH)

self.__cpr = MMME_CPR * motor_gear_ratio
self.__cpr = motor_gear_ratio * encoder_cpr
self.__init_motors = init_motors
self.__init_servos = init_servos
self.reinit()
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